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<div class="title">normal_estimator.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * normal_estimator.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Mar 22, 2012</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: aitor</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef REC_FRAMEWORK_NORMAL_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define REC_FRAMEWORK_NORMAL_ESTIMATOR_H_</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/radius_outlier_removal.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/voxel_grid.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;pcl/features/normal_3d.h&gt;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;pcl/features/integral_image_normal.h&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2time_8h.html">pcl/common/time.h</a>&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;{</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">namespace </span>rec_3d_framework</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  {</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classpcl_1_1rec__3d__framework_1_1_pre_processor_and_normal_estimator.html">   22</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1rec__3d__framework_1_1_pre_processor_and_normal_estimator.html">PreProcessorAndNormalEstimator</a></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      {</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointInT&gt;::Ptr PointInTPtr;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        <span class="keywordtype">float</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        computeMeshResolution (PointInTPtr &amp; input)</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        {</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;          <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::KdTree&lt;PointInT&gt;::Ptr KdTreeInPtr;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;          KdTreeInPtr tree = boost::make_shared&lt;pcl::KdTreeFLANN&lt;PointInT&gt; &gt; (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;          tree-&gt;setInputCloud (input);</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;          std::vector&lt;int&gt; nn_indices (9);</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;          std::vector&lt;float&gt; nn_distances (9);</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;          std::vector&lt;int&gt; src_indices;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;          <span class="keywordtype">float</span> sum_distances = 0.0;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;          std::vector&lt;float&gt; avg_distances (input-&gt;points.size ());</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;          <span class="comment">// Iterate through the source data set</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; input-&gt;points.size (); ++i)</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;          {</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;            tree-&gt;nearestKSearch (input-&gt;points[i], 9, nn_indices, nn_distances);</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;            <span class="keywordtype">float</span> avg_dist_neighbours = 0.0;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 1; j &lt; nn_indices.size (); j++)</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;              avg_dist_neighbours += std::sqrt (nn_distances[j]);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;            avg_dist_neighbours /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (nn_indices.size ());</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;            avg_distances[i] = avg_dist_neighbours;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;            sum_distances += avg_dist_neighbours;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;          }</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;          std::sort (avg_distances.begin (), avg_distances.end ());</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;          <span class="keywordtype">float</span> avg = avg_distances[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (avg_distances.size ()) / 2 + 1];</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;          <span class="keywordflow">return</span> avg;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        }</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keywordtype">bool</span> compute_mesh_resolution_;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keywordtype">bool</span> do_voxel_grid_;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keywordtype">bool</span> remove_outliers_;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="comment">//this values are used when CMR=false</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keywordtype">float</span> grid_resolution_;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keywordtype">float</span> normal_radius_;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="comment">//this are used when CMR=true</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keywordtype">float</span> factor_normals_;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keywordtype">float</span> factor_voxel_grid_;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keywordtype">float</span> mesh_resolution_;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <a class="code" href="classpcl_1_1rec__3d__framework_1_1_pre_processor_and_normal_estimator.html">PreProcessorAndNormalEstimator</a> ()</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;          remove_outliers_ = do_voxel_grid_ = compute_mesh_resolution_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        }</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        setFactorsForCMR (<span class="keywordtype">float</span> f1, <span class="keywordtype">float</span> f2)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          factor_voxel_grid_ = f1;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          factor_normals_ = f2;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        setValuesForCMRFalse (<span class="keywordtype">float</span> f1, <span class="keywordtype">float</span> f2)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          grid_resolution_ = f1;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          normal_radius_ = f2;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        setDoVoxelGrid (<span class="keywordtype">bool</span> b)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          do_voxel_grid_ = b;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        setRemoveOutliers (<span class="keywordtype">bool</span> b)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          remove_outliers_ = b;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        setCMR (<span class="keywordtype">bool</span> b)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          compute_mesh_resolution_ = b;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        estimate (PointInTPtr &amp; in, PointInTPtr &amp; out, pcl::PointCloud&lt;pcl::Normal&gt;::Ptr &amp; normals)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          <span class="keywordflow">if</span> (compute_mesh_resolution_)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;            mesh_resolution_ = computeMeshResolution (in);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;            std::cout &lt;&lt; <span class="stringliteral">&quot;compute mesh resolution:&quot;</span> &lt;&lt; mesh_resolution_ &lt;&lt; std::endl;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          <span class="keywordflow">if</span> (do_voxel_grid_)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            <a class="code" href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a> t (<span class="stringliteral">&quot;Voxel grid...&quot;</span>);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            <span class="keywordtype">float</span> voxel_grid_size = grid_resolution_;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            <span class="keywordflow">if</span> (compute_mesh_resolution_)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;              voxel_grid_size = mesh_resolution_ * factor_voxel_grid_;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;            }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;            <a class="code" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt;PointInT&gt;</a> grid_;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;            grid_.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (in);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;            grid_.<a class="code" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">setLeafSize</a> (voxel_grid_size, voxel_grid_size, voxel_grid_size);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;            grid_.<a class="code" href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">setDownsampleAllData</a> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;            grid_.<a class="code" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (*out);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            out = in;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;          <span class="keywordflow">if</span> (out-&gt;points.size () == 0)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;            PCL_WARN(<span class="stringliteral">&quot;NORMAL estimator: Cloud has no points after voxel grid, wont be able to compute normals!\n&quot;</span>);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          <span class="keywordflow">if</span> (remove_outliers_)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;            <a class="code" href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a> t (<span class="stringliteral">&quot;remove_outliers_...&quot;</span>);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            PointInTPtr out2 (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> ());</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            <span class="keywordtype">float</span> radius = normal_radius_;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            <span class="keywordflow">if</span> (compute_mesh_resolution_)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;              radius = mesh_resolution_ * factor_normals_;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;              <span class="keywordflow">if</span> (do_voxel_grid_)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                radius *= factor_voxel_grid_;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;            <span class="comment">//in synthetic views the render grazes some parts of the objects</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;            <span class="comment">//thus creating a very sparse set of points that causes the normals to be very noisy</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;            <span class="comment">//remove these points</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;            <a class="code" href="classpcl_1_1_radius_outlier_removal.html">pcl::RadiusOutlierRemoval&lt;PointInT&gt;</a> sor;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;            sor.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (out);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;            sor.<a class="code" href="classpcl_1_1_radius_outlier_removal.html#a822cc2303b1dab3bdd77e84fc1af3a5b">setRadiusSearch</a> (radius);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;            sor.<a class="code" href="classpcl_1_1_radius_outlier_removal.html#a4c7da1a0e17e78cbe9667583b2eadaef">setMinNeighborsInRadius</a> (16);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            sor.filter (*out2);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;            out = out2;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          <span class="keywordflow">if</span> (out-&gt;points.size () == 0)</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          {</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;            PCL_WARN(<span class="stringliteral">&quot;NORMAL estimator: Cloud has no points after removing outliers...!\n&quot;</span>);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          <span class="keywordtype">float</span> radius = normal_radius_;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          <span class="keywordflow">if</span> (compute_mesh_resolution_)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            radius = mesh_resolution_ * factor_normals_;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            <span class="keywordflow">if</span> (do_voxel_grid_)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;              radius *= factor_voxel_grid_;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          <span class="keywordflow">if</span> (out-&gt;isOrganized ())</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation&lt;PointInT, pcl::Normal&gt;</a> NormalEstimator_;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;            NormalEstimator_ n3d;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;            n3d.<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a6bde05e6637af21bb5f970c9feba4fc0">setNormalEstimationMethod</a> (n3d.COVARIANCE_MATRIX);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            <span class="comment">//n3d.setNormalEstimationMethod (n3d.AVERAGE_3D_GRADIENT);</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            n3d.setInputCloud (out);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            n3d.setRadiusSearch (radius);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            n3d.setKSearch (0);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;            <span class="comment">//n3d.setMaxDepthChangeFactor(0.02f);</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;            <span class="comment">//n3d.setNormalSmoothingSize(15.0f);</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;            {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;              <a class="code" href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a> t (<span class="stringliteral">&quot;compute normals...&quot;</span>);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;              n3d.compute (*normals);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;            }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;            <span class="comment">//check nans before computing normals</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;            {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;              <a class="code" href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a> t (<span class="stringliteral">&quot;check nans...&quot;</span>);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;              <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;              <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; out-&gt;points.size (); ++i)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;              {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;                <span class="keywordflow">if</span> (!pcl_isfinite (out-&gt;points[i].x) || !pcl_isfinite (out-&gt;points[i].y) || !pcl_isfinite (out-&gt;points[i].z))</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;                  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;                out-&gt;points[j] = out-&gt;points[i];</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;                j++;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;              }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;              <span class="keywordflow">if</span> (j != <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (out-&gt;points.size ()))</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;              {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                PCL_ERROR(<span class="stringliteral">&quot;Contain nans...&quot;</span>);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;              }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;              out-&gt;points.resize (j);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;              out-&gt;width = j;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;              out-&gt;height = 1;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;            }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;            <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation&lt;PointInT, pcl::Normal&gt;</a> NormalEstimator_;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;            NormalEstimator_ n3d;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;            <span class="keyword">typename</span> pcl::search::KdTree&lt;PointInT&gt;::Ptr normals_tree (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointInT&gt;</a>);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;            normals_tree-&gt;<a class="code" href="classpcl_1_1search_1_1_kd_tree.html#a457ebf1fc8f25e3b45d0bf9d55880f6f">setInputCloud</a> (out);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;            n3d.setRadiusSearch (radius);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;            n3d.setSearchMethod (normals_tree);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;            n3d.setInputCloud (out);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;            {</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;              <a class="code" href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a> t (<span class="stringliteral">&quot;compute normals not organized...&quot;</span>);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;              n3d.compute (*normals);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;            }</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;          }</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;          <span class="comment">//check nans...</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          <span class="keywordflow">if</span> (!out-&gt;isOrganized ())</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;          {</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;            <a class="code" href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a> t (<span class="stringliteral">&quot;check nans...&quot;</span>);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;            <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;            {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;              <span class="keywordflow">if</span> (!pcl_isfinite (normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal_x) || !pcl_isfinite (normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal_y)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;                  || !pcl_isfinite (normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal_z))</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;                <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;              normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j] = normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;              out-&gt;points[j] = out-&gt;points[i];</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;              j++;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;            }</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;            normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (j);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;            normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = j;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;            normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;            out-&gt;points.resize (j);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;            out-&gt;width = j;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;            out-&gt;height = 1;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;          }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          {</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;            <span class="comment">//is is organized, we set the xyz points to NaN</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;            <a class="code" href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a> t (<span class="stringliteral">&quot;check nans organized...&quot;</span>);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;            <span class="keywordtype">bool</span> NaNs = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;            {</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;              <span class="keywordflow">if</span> (pcl_isfinite (normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal_x) &amp;&amp; pcl_isfinite (normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal_y)</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                  &amp;&amp; pcl_isfinite (normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].normal_z))</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;                <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;              NaNs = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;              out-&gt;points[i].x = out-&gt;points[i].y = out-&gt;points[i].z = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;            }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;            <span class="keywordflow">if</span> (NaNs)</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;            {</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;              PCL_WARN(<span class="stringliteral">&quot;normals contain NaNs\n&quot;</span>);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;              out-&gt;is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;            }</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;          }</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;          <span class="comment">/*for (size_t i = 0; i &lt; out-&gt;points.size (); i++)</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="comment">          {</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="comment">            int r, g, b;</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="comment">            r = static_cast&lt;int&gt; (out-&gt;points[i].r);</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="comment">            g = static_cast&lt;int&gt; (out-&gt;points[i].g);</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="comment">            b = static_cast&lt;int&gt; (out-&gt;points[i].b);</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="comment">            std::cout &lt;&lt; &quot;in normal estimator:&quot; &lt;&lt; r &lt;&lt; &quot; &quot; &lt;&lt; g &lt;&lt; &quot; &quot; &lt;&lt; b &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="comment">          }*/</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        }</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      };</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  }</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;}</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* REC_FRAMEWORK_NORMAL_ESTIMATOR_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_a17115897ca28f6b12950d023958aa641"><div class="ttname"><a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">pcl::Filter::filter</a></div><div class="ttdeci">void filter(PointCloud &amp;output)</div><div class="ttdoc">Calls the filtering method and returns the filtered dataset in output.</div><div class="ttdef"><b>Definition:</b> filter.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation</a></div><div class="ttdoc">Surface normal estimation on organized data using integral images.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a6bde05e6637af21bb5f970c9feba4fc0"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a6bde05e6637af21bb5f970c9feba4fc0">pcl::IntegralImageNormalEstimation::setNormalEstimationMethod</a></div><div class="ttdeci">void setNormalEstimationMethod(NormalEstimationMethod normal_estimation_method)</div><div class="ttdoc">Set the normal estimation method. The current implemented algorithms are:</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation</a></div><div class="ttdoc">NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point....</div><div class="ttdef"><b>Definition:</b> normal_3d.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_radius_outlier_removal_html"><div class="ttname"><a href="classpcl_1_1_radius_outlier_removal.html">pcl::RadiusOutlierRemoval</a></div><div class="ttdoc">RadiusOutlierRemoval filters points in a cloud based on the number of neighbors they have.</div><div class="ttdef"><b>Definition:</b> radius_outlier_removal.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1_radius_outlier_removal_html_a4c7da1a0e17e78cbe9667583b2eadaef"><div class="ttname"><a href="classpcl_1_1_radius_outlier_removal.html#a4c7da1a0e17e78cbe9667583b2eadaef">pcl::RadiusOutlierRemoval::setMinNeighborsInRadius</a></div><div class="ttdeci">void setMinNeighborsInRadius(int min_pts)</div><div class="ttdoc">Set the number of neighbors that need to be present in order to be classified as an inlier.</div><div class="ttdef"><b>Definition:</b> radius_outlier_removal.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1_radius_outlier_removal_html_a822cc2303b1dab3bdd77e84fc1af3a5b"><div class="ttname"><a href="classpcl_1_1_radius_outlier_removal.html#a822cc2303b1dab3bdd77e84fc1af3a5b">pcl::RadiusOutlierRemoval::setRadiusSearch</a></div><div class="ttdeci">void setRadiusSearch(double radius)</div><div class="ttdoc">Set the radius of the sphere that will determine which points are neighbors.</div><div class="ttdef"><b>Definition:</b> radius_outlier_removal.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1_scope_time_html"><div class="ttname"><a href="classpcl_1_1_scope_time.html">pcl::ScopeTime</a></div><div class="ttdoc">Class to measure the time spent in a scope</div><div class="ttdef"><b>Definition:</b> time.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a></div><div class="ttdoc">VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a1694d46442c66f7071235a8571dd602a"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">pcl::VoxelGrid::setDownsampleAllData</a></div><div class="ttdeci">void setDownsampleAllData(bool downsample)</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:257</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa5d7831e665977bdce76ed05bd0005cf"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">pcl::VoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(const Eigen::Vector4f &amp;leaf_size)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1rec__3d__framework_1_1_pre_processor_and_normal_estimator_html"><div class="ttname"><a href="classpcl_1_1rec__3d__framework_1_1_pre_processor_and_normal_estimator.html">pcl::rec_3d_framework::PreProcessorAndNormalEstimator</a></div><div class="ttdef"><b>Definition:</b> normal_estimator.h:23</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html_a457ebf1fc8f25e3b45d0bf9d55880f6f"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html#a457ebf1fc8f25e3b45d0bf9d55880f6f">pcl::search::KdTree::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</div><div class="ttdoc">Provide a pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> kdtree.hpp:77</div></div>
<div class="ttc" id="acommon_2time_8h_html"><div class="ttname"><a href="common_2time_8h.html">time.h</a></div></div>
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